CN110385324B

CN110385324B - Cleaning method, system, readable storage medium and equipment for camera device

Info

Publication number: CN110385324B
Application number: CN201910476639.XA
Authority: CN
Inventors: 汪继发
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2019-06-03
Filing date: 2019-06-03
Publication date: 2021-07-27
Anticipated expiration: 2039-06-03
Also published as: CN110385324A

Abstract

The invention relates to a method and a system for cleaning a camera device, a readable storage medium and equipment, belonging to the technical field of cleaning, wherein when a cleaning request initiated by a target unmanned aerial vehicle is received, a camera picture of the camera device is obtained, the target unmanned aerial vehicle can hover in front of a lens of the camera device when the target unmanned aerial vehicle prepares to clean the camera device and also can appear in the camera picture, if the target unmanned aerial vehicle is not at a target position, adjustment response information is generated and returned to the target unmanned aerial vehicle, the target unmanned aerial vehicle adjusts the hovering position of the target unmanned aerial vehicle according to the adjustment response information to enable the target unmanned aerial vehicle to be located at the target position, and then cleaning response information can be generated and returned to the target unmanned aerial vehicle to instruct the target unmanned aerial vehicle to clean the camera device. Through the position of picture analysis target unmanned aerial vehicle of making a video recording, and then the accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution improves clean effect to camera device's cleanness moreover.

Description

Cleaning method, system, readable storage medium and equipment for camera device

Technical Field

The present invention relates to the field of cleaning technologies, and in particular, to a method and a system for cleaning an image capture device, a readable storage medium, and an apparatus.

Background

The monitoring camera device is a video capture device and is widely applied to the field of security protection. When the monitoring camera device works for a period of time, the camera lens of the monitoring camera device needs to be cleaned, so that the imaging effect of the monitoring camera device is prevented from being affected by dust on the camera lens, particularly the monitoring camera device in an outdoor environment, the working environment is poor in sanitary condition and needs to be cleaned regularly, and the monitoring camera device is generally installed at a position higher than the ground in the using process, such as the top of a building and the like, maintenance personnel are required to carry the ladder stand to ascend and clean during cleaning, the operation is inconvenient, and potential safety hazards exist in the process of ascending operation.

At present, a common processing mode is to carry a cleaning tool on an unmanned aerial vehicle and manually control the unmanned aerial vehicle to clean a monitoring camera device; but manual remote control unmanned aerial vehicle's hover position is inaccurate, and is comparatively complicated to unmanned aerial vehicle's operation, and is poor to monitoring camera device's clean effect.

Disclosure of Invention

Therefore, it is necessary to provide a cleaning method and system for a camera device, a readable storage medium and a device for the camera device, aiming at the problems that the hovering position of the traditional manual remote control unmanned aerial vehicle is inaccurate, the operation of the unmanned aerial vehicle is complex, and the cleaning effect of the monitoring camera device is poor.

A method of cleaning an image pickup apparatus, comprising the steps of:

when a cleaning request initiated by a target unmanned aerial vehicle is received, a shooting picture is obtained;

judging whether the target unmanned aerial vehicle is at the target position or not according to the camera shooting picture, if not, generating adjustment response information and returning the adjustment response information to the target unmanned aerial vehicle; wherein the adjustment response information is used for instructing the target unmanned aerial vehicle to adjust the hovering position of the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to be located at the target position;

when the target unmanned aerial vehicle is located at the target position, generating cleaning response information and returning the cleaning response information to the target unmanned aerial vehicle; wherein, clean response information is used for instructing target unmanned aerial vehicle to clean camera device.

According to the cleaning method of the camera device, when a cleaning request initiated by the target unmanned aerial vehicle is received, a camera shooting picture of the camera device is obtained, when the target unmanned aerial vehicle is ready to clean the camera device, the target unmanned aerial vehicle can hover in front of a lens of the camera device and also can appear in the camera shooting picture, if the target unmanned aerial vehicle is not at the target position, adjustment response information is generated and returned to the target unmanned aerial vehicle, the target unmanned aerial vehicle adjusts the hovering position of the target unmanned aerial vehicle according to the adjustment response information, the target unmanned aerial vehicle is located at the target position, then cleaning response information can be generated and returned to the target unmanned aerial vehicle, and the target unmanned aerial vehicle is instructed to clean the camera device. This kind of scheme can be through the position of picture analysis target unmanned aerial vehicle of making a video recording, and then the accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces the manual operation to camera device's cleanness moreover, improves the clean effect to camera device.

In one embodiment, the step of determining whether the target drone is at the target position according to the camera shooting picture comprises the following steps:

and acquiring the proportion of the target unmanned aerial vehicle in the image pickup picture, and judging whether the target unmanned aerial vehicle is at the target position according to the proportion.

and identifying a cleaning opening of the target unmanned aerial vehicle in the image pick-up picture, and judging that the target unmanned aerial vehicle is at the target position if the position of the cleaning opening in the image pick-up picture is at the center of the image pick-up picture.

In one embodiment, the method for cleaning the image pickup apparatus further includes:

and if the position of the cleaning port in the camera shooting picture is not at the center of the camera shooting picture, acquiring a distance vector between the cleaning port and the center of the camera shooting picture, and generating adjustment response information according to the distance vector, wherein the adjustment response information comprises adjustment direction information and adjustment distance information of the target unmanned aerial vehicle.

In one embodiment, after the step of returning the cleaning response information to the target drone, the method further comprises the steps of:

whether detection target unmanned aerial vehicle begins to clean camera device, if, drive camera device's cleaning brush carries out the linkage cleanness.

when a cleaning finishing request initiated by a target unmanned aerial vehicle is received, judging whether the cleaned area covers all areas of the surface of a lens outer cover of the camera device, wherein the outer cover wraps the lens of the camera device;

if not, adjusting the angle of the lens of the camera device, and returning to the step of acquiring the camera shooting picture until the cleaning of all areas on the surface of the outer cover is completed.

In one embodiment, before receiving the target drone initiated cleaning request, the method further comprises the steps of:

when the target unmanned aerial vehicle is shot, sending identification information of the camera device to a server; the server is used for broadcasting identification information and a protocol address of the camera device to the unmanned aerial vehicle which is registered to be on line;

and receiving pairing information sent by the server, and establishing interactive connection with the target unmanned aerial vehicle according to the pairing information, wherein the pairing information is sent to the server by the target unmanned aerial vehicle and comprises a protocol address of the camera device and a protocol address of the target unmanned aerial vehicle.

A cleaning system for an image capture device, comprising:

the image acquisition unit is used for acquiring a camera image when receiving a cleaning request initiated by a target unmanned aerial vehicle;

the position analysis unit is used for judging whether the target unmanned aerial vehicle is at the target position according to the camera shooting picture, and if not, generating adjustment response information and returning the adjustment response information to the target unmanned aerial vehicle; wherein the adjustment response information is used for instructing the target unmanned aerial vehicle to adjust the hovering position of the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to be located at the target position;

the cleaning response unit is used for generating cleaning response information and returning the cleaning response information to the target unmanned aerial vehicle when the target unmanned aerial vehicle is located at the target position; wherein, clean response information is used for instructing target unmanned aerial vehicle to clean camera device.

According to the cleaning system of the camera device, the picture acquisition unit acquires the camera shooting picture of the camera device when receiving the cleaning request initiated by the target unmanned aerial vehicle, the target unmanned aerial vehicle can hover in front of the lens of the camera device when preparing to clean the camera device and can also appear in the camera shooting picture, if the position analysis unit judges that the target unmanned aerial vehicle is not at the target position, the position analysis unit generates adjustment response information and returns the adjustment response information to the target unmanned aerial vehicle, the target unmanned aerial vehicle adjusts the hovering position of the target unmanned aerial vehicle according to the adjustment response information, so that the target unmanned aerial vehicle is located at the target position, and then the cleaning response unit can generate cleaning response information and returns the cleaning response information to the target unmanned aerial vehicle to indicate the target unmanned aerial vehicle to clean the camera device. This kind of scheme can be through the position of picture analysis target unmanned aerial vehicle of making a video recording, and then the accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces the manual operation to camera device's cleanness moreover, improves the clean effect to camera device.

In one embodiment, the position analysis unit obtains the proportion of the target unmanned aerial vehicle in the shooting picture, and judges whether the target unmanned aerial vehicle is at the target position according to the proportion.

In one embodiment, the position analysis unit identifies a cleaning opening of the target unmanned aerial vehicle in the shooting picture, and determines that the target unmanned aerial vehicle is at the target position if the position of the cleaning opening in the shooting picture is at the center of the shooting picture.

In one embodiment, the position analysis unit acquires a distance vector between the cleaning opening and the center of the shooting picture when the position of the cleaning opening in the shooting picture is not at the center of the shooting picture, and generates adjustment response information according to the distance vector, wherein the adjustment response information comprises adjustment direction information and adjustment distance information of the target unmanned aerial vehicle.

In one embodiment, the cleaning response unit detects whether the target unmanned aerial vehicle starts to clean the camera device, and if so, drives a cleaning brush of the camera device to perform linkage cleaning.

In one embodiment, the cleaning response unit judges whether the cleaned area covers all areas of the surface of a lens housing of the camera device when receiving a cleaning ending request initiated by the target unmanned aerial vehicle, wherein the lens housing wraps the lens of the camera device; if the outer cover is not covered, the angle of the lens of the camera device is adjusted, and the image acquisition unit acquires the camera image again until all areas on the surface of the outer cover are cleaned.

In one embodiment, the cleaning system of the camera device further comprises an identification pairing unit, which is used for sending the identification information of the camera device to the server when the target unmanned aerial vehicle is shot; the method comprises the steps of receiving pairing information sent by a server, and establishing interactive connection with a target unmanned aerial vehicle according to the pairing information, wherein the server is used for broadcasting identification information and a protocol address of a camera device to the unmanned aerial vehicle which is registered to be on-line, the pairing information is sent to the server by the target unmanned aerial vehicle, and the pairing information comprises the protocol address of the camera device and the protocol address of the target unmanned aerial vehicle.

A method of cleaning an image pickup apparatus, comprising the steps of:

initiating a cleaning request to a target camera device;

receiving adjustment response information returned by the target camera device, and adjusting the hovering position of the target unmanned aerial vehicle according to the adjustment response information so as to enable the target unmanned aerial vehicle to be located at the target position;

and receiving cleaning response information returned by the target camera device, and cleaning the target camera device according to the cleaning response information.

According to the cleaning method of the camera device, a cleaning request is sent to the target camera device, the target camera device analyzes the hovering position of the target unmanned aerial vehicle and returns adjustment response information, so that the hovering position of the target unmanned aerial vehicle is adjusted to be located at the target position, and at the moment, the target camera device returns cleaning response information to indicate that the target camera device is cleaned. This kind of scheme can be through the interaction with target camera device, and accurate adjustment target unmanned aerial vehicle's position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces manual operation to target camera device's cleanness moreover, improves the clean effect to target camera device.

In one embodiment, the adjustment response information is obtained based on a distance vector of the cleaning opening of the target drone relative to the center of the image pickup screen of the target image pickup device, and the adjustment response information includes adjustment direction information and adjustment distance information of the target drone.

recording cleaning time, and initiating a cleaning ending request to the target camera device after the cleaning time reaches preset time;

and receiving service response information returned by the target camera device, and continuing cleaning or finishing cleaning according to the service response information.

In one embodiment, before the step of initiating the cleaning request to the target image capturing device, the method further comprises the following steps:

registering an online server;

when a target unmanned aerial vehicle hovers in front of a lens of a target camera device, receiving identification information to be identified and a protocol address broadcast by a server, wherein the identification information to be identified and the protocol address are the identification information and the protocol address of the camera device which has shot the unmanned aerial vehicle;

acquiring identification information of a target camera device, and returning pairing information to a server when the identification information of the target camera device is consistent with the identification information to be identified; the pairing information is used for establishing interactive connection between the target camera device and the target unmanned aerial vehicle, and comprises a protocol address of the target camera device and a protocol address of the target unmanned aerial vehicle.

A cleaning system for an image capture device, comprising:

a request initiating unit, configured to initiate a cleaning request to a target image capturing apparatus;

the position adjusting unit is used for receiving the adjusting response information returned by the target camera device and adjusting the hovering position of the target unmanned aerial vehicle according to the adjusting response information so as to enable the target unmanned aerial vehicle to be located at the target position;

and the cleaning execution unit is used for receiving the cleaning response information returned by the target camera device and cleaning the target camera device according to the cleaning response information.

According to the cleaning system of the camera device, the request initiating unit initiates a cleaning request to the target camera device, the target camera device can analyze the hovering position of the target unmanned aerial vehicle and return adjustment response information, the position adjusting unit adjusts the hovering position of the target unmanned aerial vehicle to enable the target unmanned aerial vehicle to be located at the target position, the target camera device returns cleaning response information at the moment, and the cleaning executing unit instructs the target unmanned aerial vehicle to clean the target camera device according to the cleaning response information. This kind of scheme can be through the interaction with target camera device, and accurate adjustment target unmanned aerial vehicle's position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces manual operation to target camera device's cleanness moreover, improves the clean effect to target camera device.

Drawings

Fig. 1 is a schematic flow chart of a cleaning method of an image pickup apparatus in one embodiment;

FIG. 2 is a schematic diagram of a cleaning system of the image pickup apparatus in one embodiment;

fig. 3 is a schematic configuration diagram of a cleaning system of the image pickup apparatus in another embodiment;

fig. 4 is a schematic flowchart of a cleaning method of an image pickup apparatus in another embodiment;

fig. 5 is a schematic configuration diagram of a cleaning system of the image pickup apparatus in a further embodiment;

fig. 6 is a schematic configuration diagram of a cleaning system of an image pickup apparatus in a further embodiment;

fig. 7 is a schematic flow chart of pairing of the camera device and the drone in one embodiment;

FIG. 8 is a schematic diagram of camera and drone interaction in one embodiment;

fig. 9 is a schematic data processing flow diagram of a drone in one embodiment;

fig. 10 is a schematic data processing flow diagram of an image pickup apparatus according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The cleaning method of the camera device can be applied to various cleaning scenes of the camera device for monitoring, such as cleaning outdoor monitoring camera devices in cells, buildings and the like.

Fig. 1 is a schematic flow chart of a cleaning method of an image capturing apparatus according to an embodiment of the present invention. The method for cleaning the image pickup apparatus in this embodiment includes the steps of:

step S110: when a cleaning request initiated by a target unmanned aerial vehicle is received, a shooting picture is obtained;

in the step, the target unmanned aerial vehicle is an unmanned aerial vehicle for cleaning the camera device, when cleaning is to be performed, the target unmanned aerial vehicle can hover in front of a lens of the camera device, the camera device can shoot the target unmanned aerial vehicle, so that a camera shooting picture is obtained, and the target unmanned aerial vehicle is displayed in the camera shooting picture;

step S120: judging whether the target unmanned aerial vehicle is at the target position or not according to the camera shooting picture, if not, generating adjustment response information and returning the adjustment response information to the target unmanned aerial vehicle; wherein the adjustment response information is used for instructing the target unmanned aerial vehicle to adjust the hovering position of the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to be located at the target position;

in this step, the target drone is displayed at a certain position in the image pickup picture, whether the position is the target position or not can be judged, the target position is a position where the target drone can clean the image pickup device, if the position is not at the target position, it is shown that the position of the target drone is not well adjusted, the image pickup device is not convenient to clean, adjustment response information can be generated and returned to the target drone, and the hovering position of the target drone is adjusted to the target position, so that the image pickup device is cleaned more effectively;

step S130: when the target unmanned aerial vehicle is located at the target position, generating cleaning response information and returning the cleaning response information to the target unmanned aerial vehicle; wherein, clean response information is used for instructing target unmanned aerial vehicle to clean camera device.

In this step, after the target unmanned aerial vehicle is located at the target position, cleaning response information is generated to control the unmanned aerial vehicle to execute cleaning operation, and a cleaning instruction does not need to be manually sent.

In this embodiment, when a cleaning request initiated by the target unmanned aerial vehicle is received, a camera image of the camera device is obtained, when the target unmanned aerial vehicle is ready to clean the camera device, the target unmanned aerial vehicle can hover in front of a lens of the camera device, and the camera image can also appear in the camera image, if the target unmanned aerial vehicle is not at the target position, adjustment response information is generated and returned to the target unmanned aerial vehicle, the target unmanned aerial vehicle adjusts the hovering position of the target unmanned aerial vehicle according to the adjustment response information, so that the target unmanned aerial vehicle is located at the target position, and then cleaning response information can be generated and returned to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle is instructed to clean the camera device. This kind of scheme can be through the position of picture analysis target unmanned aerial vehicle of making a video recording, and then the accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces the manual operation to camera device's cleanness moreover, improves the clean effect to camera device.

It should be noted that, the steps of the cleaning method for the camera device may be executed in the camera device, and the camera device controls the target unmanned aerial vehicle to execute cleaning, so as to reduce manual operations.

Furthermore, when receiving a cleaning request, returning adjustment response information or returning cleaning response information of the target unmanned aerial vehicle, the camera device can forward the information through the server, and the camera device performs information interaction with the target unmanned aerial vehicle through the server.

In one embodiment, the step of determining whether the target unmanned aerial vehicle is at the target position according to the camera shooting picture comprises the following steps:

In this embodiment, the distances between the target unmanned aerial vehicle and the camera device are different, and the sizes of the target unmanned aerial vehicles displayed in the camera pictures are also different, that is, the proportion of the target unmanned aerial vehicle in the camera pictures is changed, and the distance between the target unmanned aerial vehicle and the camera device can be judged according to the proportion of the target unmanned aerial vehicle in the camera pictures; the target location is that target unmanned aerial vehicle can carry out clear position to camera device, and distance between the two needs to be close enough, can judge whether target unmanned aerial vehicle is at the target location through the shared proportion of target unmanned aerial vehicle in the picture of making a video recording.

Further, in practical application, the proportion that target unmanned aerial vehicle occupies in the picture of making a video recording exceeds the default, can judge that target unmanned aerial vehicle is at the target location, and the default can be adjusted as required, generally can set up the default between 20% -40%, like 25%, 30%, 35% etc..

In this embodiment, target unmanned aerial vehicle possesses clean mouthful, cleans camera device through clean mouthful, and the position of clean mouthful in the picture of making a video recording is in the center of the picture of making a video recording, and the center of aligning camera device's camera lens that is exactly, can carry out even cleanness to the surface area of camera lens effectively, when can be in the center of the picture of making a video recording with clean mouthful, target unmanned aerial vehicle's position is as the target location.

In one embodiment, the method of cleaning an image pickup apparatus further comprises the steps of:

In this embodiment, when the cleaning opening is not in the center of the picture of making a video recording, can utilize the distance vector between the center of cleaning opening and the picture of making a video recording, generate and adjust response information, through the regulation to target unmanned aerial vehicle in direction and distance, make target unmanned aerial vehicle be in the center of the picture of making a video recording to target unmanned aerial vehicle cleans camera device.

Furthermore, the calculation analysis of the proportion of the target unmanned aerial vehicle in the shooting picture can be combined with the adjustment of the central position of the target unmanned aerial vehicle in the shooting picture; firstly, the target unmanned aerial vehicle is close to the camera device enough through proportion calculation, whether the cleaning opening of the target unmanned aerial vehicle is in the center of a camera shooting picture is identified, if the cleaning opening of the target unmanned aerial vehicle is not in the center, adjustment response information is generated through vector calculation, the target unmanned aerial vehicle is adjusted in the direction and the distance and is positioned in the center of the camera shooting picture, the position adjustment of the target unmanned aerial vehicle is completed, and the camera device is cleaned at the best position.

In this embodiment, when target unmanned aerial vehicle began to clean camera device, if camera device is equipped with the cleaning brush, can drive the cleaning brush, clean with target unmanned aerial vehicle carries out the linkage, strengthen clean effect.

Furthermore, a cleaning agent conduit, a washing water conduit and an electric pump can be installed on the target unmanned aerial vehicle, the cleaning agent conduit and the washing water conduit are arranged side by side and are close to each other to serve as a cleaning opening, cleaning liquid is sprayed to the lens surface of the camera device from the cleaning agent conduit through the electric pump, clear water is sprayed to the lens surface of the camera device from the washing water conduit, the path of the spraying liquid covers the lens surface of the camera device, and the camera device is cleaned through the matching of the spraying liquid and a cleaning brush of the camera device.

In one embodiment, the target unmanned aerial vehicle can be provided with the cleaning brush capable of telescopically moving at the cleaning opening, cleaning work is completed through the cooperation of the cleaning agent, the clear water and the cleaning brush, and the camera shooting device can be cleaned only by the cleaning brush.

In this embodiment, an outer cover is arranged outside the lens surface of the camera device and used for protecting the lens, at the moment, the target unmanned aerial vehicle can clean the outer cover, when a cleaning finishing request initiated by the target unmanned aerial vehicle is received, whether all areas on the lens outer cover surface of the camera device are cleaned is determined firstly, if not, angles of the lens of the camera device are adjusted, at the moment, a camera shooting picture is changed, the target unmanned aerial vehicle needs to adjust a target position again, and corresponding outer cover surface areas are cleaned until all areas on the outer cover surface are cleaned.

The scheme for adjusting the angle of the lens of the camera device is suitable for the camera device of the dome camera with the transparent outer cover; in addition, a cleaning area can be recorded, the area range of cleaning each time is determined according to the visual angle of the lens of the camera device, and the adjustment angle of the lens is determined according to the area range and the camera device so as to finish the cleaning work of the target unmanned aerial vehicle as soon as possible and save cleaning resources.

Further, after all the areas of the surface of the lens housing of the camera device are cleaned, end response information is returned to the target unmanned aerial vehicle, and the target unmanned aerial vehicle is instructed to end the cleaning task.

In one embodiment, before receiving a target drone initiated cleaning request, further comprising the steps of:

when the target unmanned aerial vehicle is shot, sending identification information and a protocol address of the camera device to a server; the server is used for broadcasting identification information and a protocol address of the camera device to the unmanned aerial vehicle which is registered to be on line;

In this embodiment, when the camera device shoots the target unmanned aerial vehicle, it indicates that the target unmanned aerial vehicle enters the shooting range of the camera device, send the identification information and the protocol address of the camera device to the server at this moment, the server broadcasts the identification information and the protocol address of the camera device to the unmanned aerial vehicle registered to be on line, the target unmanned aerial vehicle can input the identification information of the camera device in advance, the identification information of the camera device received through broadcasting is compared, whether the camera device identifies the target unmanned aerial vehicle can be determined, then the target unmanned aerial vehicle returns the pairing information through the server, the interactive connection between the camera device and the target unmanned aerial vehicle is established according to the pairing information, the identification pairing is completed, and the subsequent control of the target unmanned aerial vehicle is realized.

It should be noted that after the establishment of the cross-connections, pairing information is attached to information interaction between the camera device and the target unmanned aerial vehicle.

According to the method for cleaning the image pickup apparatus, the embodiment of the invention also provides a cleaning system for the image pickup apparatus, and the following describes an embodiment of the cleaning system for the image pickup apparatus in detail.

Fig. 2 is a schematic structural diagram of a cleaning system of an image pickup apparatus according to an embodiment. The cleaning system of the image pickup apparatus in this embodiment includes:

the image acquisition unit 210 is configured to acquire a camera image when receiving a cleaning request initiated by a target unmanned aerial vehicle;

the position analysis unit 220 is used for judging whether the target unmanned aerial vehicle is at the target position according to the camera shooting picture, and if not, generating adjustment response information and returning the adjustment response information to the target unmanned aerial vehicle; wherein the adjustment response information is used for instructing the target unmanned aerial vehicle to adjust the hovering position of the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to be located at the target position;

a cleaning response unit 230, configured to generate cleaning response information and return the cleaning response information to the target unmanned aerial vehicle when the target unmanned aerial vehicle is located at the target position; wherein, clean response information is used for instructing target unmanned aerial vehicle to clean camera device.

In this embodiment, when receiving a cleaning request initiated by a target drone, the image obtaining unit 210 obtains a shooting picture of the camera device, when the target drone is ready to clean the camera device, the target drone may hover in front of a lens of the camera device and also may appear in the shooting picture, if the position analysis unit 220 determines that the target drone is not at the target position, the position analysis unit generates adjustment response information and returns the adjustment response information to the target drone, the target drone adjusts its hovering position according to the adjustment response information, so that the target drone is located at the target position, and then the cleaning response unit 230 may generate cleaning response information and return the cleaning response information to the target drone, so as to instruct the target drone to clean the camera device. This kind of scheme can be through the position of picture analysis target unmanned aerial vehicle of making a video recording, and then the accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces the manual operation to camera device's cleanness moreover, improves the clean effect to camera device.

In one embodiment, the position analysis unit 220 obtains a ratio of the target drone in the image pickup picture, and determines whether the target drone is at the target position according to the ratio.

In one embodiment, the position analysis unit 220 identifies the cleaning opening of the target drone in the shooting picture, and determines that the target drone is at the target position if the position of the cleaning opening in the shooting picture is at the center of the shooting picture.

In one embodiment, when the position of the cleaning opening in the image pickup picture is not at the center of the image pickup picture, the position analysis unit 220 acquires a distance vector between the cleaning opening and the center of the image pickup picture, and generates adjustment response information according to the distance vector, wherein the adjustment response information includes adjustment direction information and adjustment distance information of the target unmanned aerial vehicle.

In one embodiment, the cleaning response unit 230 detects whether the target drone starts cleaning the camera device, and if so, drives the cleaning brush of the camera device to perform linked cleaning.

In one embodiment, the cleaning response unit 230 determines whether the cleaned area covers all areas of the surface of the lens housing of the camera device when receiving the cleaning end request initiated by the target drone; if the outer cover is not covered, the angle of the lens of the camera device is adjusted, and the image acquisition unit acquires the camera image again until all areas on the surface of the outer cover are cleaned.

In one embodiment, as shown in fig. 3, the cleaning system of the camera device further includes an identification pairing unit 240 for sending identification information of the camera device to the server when the target drone is photographed; the method comprises the steps of receiving pairing information sent by a server, and establishing interactive connection with a target unmanned aerial vehicle according to the pairing information, wherein the server is used for broadcasting identification information and a protocol address of a camera device to the unmanned aerial vehicle which is registered to be on-line, the pairing information is sent to the server by the target unmanned aerial vehicle, and the pairing information comprises the protocol address of the camera device and the protocol address of the target unmanned aerial vehicle.

The cleaning system of the camera device in the embodiment of the invention corresponds to the cleaning method of the camera device one by one, and the technical characteristics and the beneficial effects described in the embodiment of the cleaning method of the camera device are all applicable to the embodiment of the cleaning system of the camera device.

A readable storage medium having stored thereon an executable program which, when executed by a processor, carries out the steps of the method of cleaning an image pickup apparatus as described above.

Above-mentioned readable storage medium, through its executable program of storage, can realize through the position of picture analysis target unmanned aerial vehicle that makes a video recording, and then accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution is to camera device's cleanness in addition, reduces the manual operation, improves the clean effect to camera device.

The image pickup device comprises a memory and a processor, wherein the memory stores an executable program, and the processor executes the executable program to realize the steps of the cleaning method of the image pickup device.

Above-mentioned camera device's cleaning equipment through the executable program of operation on the treater, can realize through the position of picture analysis target unmanned aerial vehicle that makes a video recording, and then accurate control target unmanned aerial vehicle adjustment position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution is to camera device's cleanness in addition, reduces the manual operation, improves the clean effect to camera device.

It will be understood by those skilled in the art that all or part of the processes in the cleaning method for the image capturing device according to the above embodiments may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, and in the embodiments, the program may be stored in the storage medium of the computer system and executed by at least one processor in the computer system, so as to implement the processes of the embodiments including the cleaning method for the image capturing device according to the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

According to the above method for cleaning an image pickup apparatus, another method for cleaning an image pickup apparatus is provided in the embodiments of the present invention, and the following describes in detail an embodiment of another method for cleaning an image pickup apparatus.

Fig. 4 is a schematic flow chart of a cleaning method of an image pickup apparatus according to an embodiment. The method for cleaning the image pickup apparatus in this embodiment includes the steps of:

step S310: initiating a cleaning request to a target camera device;

in this step, when preparing for cleaning, the target unmanned aerial vehicle may hover in front of the lens of the image pickup apparatus, and at this time, a cleaning request may be initiated to the target image pickup apparatus;

step S320: receiving adjustment response information returned by the target camera device, and adjusting the hovering position of the target unmanned aerial vehicle according to the adjustment response information so as to enable the target unmanned aerial vehicle to be located at the target position;

in this step, after receiving the cleaning request, the target camera device performs camera analysis on the position of the target unmanned aerial vehicle, and returns adjustment response information, where the adjustment response information is used to adjust the hovering position of the target unmanned aerial vehicle, so that the target unmanned aerial vehicle is located at the target position;

step S330: and receiving cleaning response information returned by the target camera device, and cleaning the target camera device according to the cleaning response information.

In this step, after the target unmanned aerial vehicle is located at the target position, the target camera device may return cleaning response information for instructing the target unmanned aerial vehicle to clean the target camera device.

In this embodiment, a cleaning request is initiated to the target camera device, the target camera device may analyze the hovering position of the target unmanned aerial vehicle, and return adjustment response information, so as to adjust the hovering position of the target unmanned aerial vehicle to be located at the target position, and at this time, the target camera device is received to return cleaning response information, and the target camera device is instructed to be cleaned. This kind of scheme can be through the interaction with target camera device, and accurate adjustment target unmanned aerial vehicle's position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces manual operation to target camera device's cleanness moreover, improves the clean effect to target camera device.

It should be noted that, the steps of the cleaning method for the camera device may be executed in the target unmanned aerial vehicle, and the camera device returns information to control the target unmanned aerial vehicle to execute cleaning, so as to reduce manual operations.

Further, when a cleaning request is initiated to the target camera device, adjustment response information is received or cleaning response information is received, forwarding can be performed through the server, and the target camera device performs information interaction with the target unmanned aerial vehicle through the server.

In one embodiment, the adjustment response information is obtained based on a distance vector of the cleaning opening of the target drone with respect to the center of the camera image of the target camera, and the adjustment response information includes adjustment direction information and adjustment distance information of the target drone.

In this embodiment, target unmanned aerial vehicle possesses clean mouthful, and target camera device can utilize the distance vector between clean mouthful and the center of the picture of making a video recording, generates and adjusts response information, through the regulation to target unmanned aerial vehicle on direction and distance, makes target unmanned aerial vehicle be in the center of the picture of making a video recording to it is clean to camera device that target unmanned aerial vehicle carries out.

In this embodiment, after the target image capturing apparatus starts to be cleaned, the cleaning time may be recorded, and after the preset time is reached, the current cleaning work should be completed, at this time, an end request may be initiated to the target image capturing apparatus, and the target image capturing apparatus may return service response information according to an actual cleaning state, so as to instruct to continue cleaning or end cleaning, thereby implementing flow control of the cleaning work.

Further, the preset time can be freely set according to the requirement, and can be generally set between 10 seconds and 30 seconds, such as 15 seconds, 20 seconds, 25 seconds, and the like.

In one embodiment, before the step of initiating the cleaning request to the target image capturing apparatus, the method further comprises the following steps:

registering an online server;

In this embodiment, the unmanned aerial vehicle can register to the server for online, the target unmanned aerial vehicle hovers in front of the lens of the target camera device, the target camera device can shoot the target unmanned aerial vehicle, at this moment, the target camera device sends the identification information and the protocol address of the target camera device to the server, the server broadcasts the identification information and the protocol address of the target camera device to the unmanned aerial vehicle registered for online, the target unmanned aerial vehicle can input the identification information of the target camera device in advance, the identification information of the target camera device received through broadcasting is compared, whether the target unmanned aerial vehicle is identified by the target camera device can be determined, then the pairing information is returned through the server, the interactive connection between the target camera device and the target unmanned aerial vehicle is established according to the pairing information, the identification pairing is completed, and the follow-up.

It should be noted that after the establishment of the cross-connections, pairing information is attached to information interaction between the target camera and the target unmanned aerial vehicle. In practical application, if in the same district, camera device can have a plurality ofly, and the unmanned aerial vehicle that is used for the cleanness also can have a plurality ofly, through the processing to identification information and protocol address, can be with the target camera device that needs the cleanness with the target unmanned aerial vehicle pairing relevance that provides the service, accomplish corresponding clean task.

Fig. 5 is a schematic structural diagram of a cleaning system of the image pickup apparatus according to an embodiment. The cleaning system of the image pickup apparatus in this embodiment includes:

a request initiating unit 410, configured to initiate a cleaning request to a target image capturing apparatus;

a position adjusting unit 420, configured to receive adjustment response information returned by the target camera device, and adjust the hovering position of the target unmanned aerial vehicle according to the adjustment response information, so that the target unmanned aerial vehicle is located at the target position;

and a cleaning execution unit 430, configured to receive cleaning response information returned by the target image capturing apparatus, and clean the target image capturing apparatus according to the cleaning response information.

In this embodiment, the request initiating unit 410 initiates a cleaning request to the target camera, the target camera may analyze the hovering position of the target drone and return adjustment response information, the position adjusting unit 420 adjusts the hovering position of the target drone so as to enable the target drone to be located at the target position, at this time, the target camera returns cleaning response information, and the cleaning executing unit 430 instructs the target drone to clean the target camera according to the cleaning response information. This kind of scheme can be through the interaction with target camera device, and accurate adjustment target unmanned aerial vehicle's position of hovering reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution reduces manual operation to target camera device's cleanness moreover, improves the clean effect to target camera device.

In one embodiment, the cleaning execution unit 430 is configured to record a cleaning time, and initiate a cleaning end request to the target image capturing apparatus after the cleaning time reaches a preset time; and receiving service response information returned by the target camera device, and continuing cleaning or finishing cleaning according to the service response information.

In one embodiment, as shown in fig. 6, the cleaning system of the image pickup apparatus further includes an online pairing unit 440 for registering online with the server; when the target unmanned aerial vehicle hovers in front of a lens of the target camera device, receiving identification information to be identified and a protocol address broadcast by a server; acquiring identification information of a target camera device, and returning pairing information to a server when the identification information of the target camera device is consistent with the identification information to be identified; the identification information and the protocol address to be recognized are identification information and a protocol address of a camera shooting device which shoots the unmanned aerial vehicle, pairing information is used for establishing interactive connection between target camera shooting devices and target unmanned aerial vehicles, and the pairing information comprises the protocol address of the target camera shooting devices and the protocol address of the target unmanned aerial vehicle.

Above-mentioned readable storage medium, through its executable program of storage, can realize through the interaction with target camera device, accurate adjustment target unmanned aerial vehicle's hover position reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution is to target camera device's cleanness moreover, reduces the manual operation, improves the clean effect to target camera device.

Above-mentioned camera device's cleaning equipment through the executable program of operation on the treater, can realize through the interaction with target camera device, accurate adjustment target unmanned aerial vehicle's hover position reduces manual remote control unmanned aerial vehicle's position error, and steerable target unmanned aerial vehicle automatic execution is to target camera device's cleanness moreover, reduces the manual operation, improves the clean effect to target camera device.

In one embodiment, the cleaning method of the camera device can be applied to a scene of cleaning a camera in a certain area.

Before cleaning the camera, preparation can be carried out: preparing a ground transport vehicle, a washing pipe, a cleaning agent and an unmanned aerial vehicle. The sanitizer can be installed in unmanned aerial vehicle's storing box, is provided with sanitizer pipe, wash water pipe on the unmanned aerial vehicle, can follow the sanitizer pipe blowout with the sanitizer, wash water pipe and wash water union coupling, from the last water intaking of ground transport vechicle, clean water through washing water pipe blowout.

As shown in fig. 7 and 8, the drone establishes a connection with the server and registers for online;

the remote control unmanned aerial vehicle hovers in front of the camera, so that the camera can identify the unmanned aerial vehicle and a cleaning port of the unmanned aerial vehicle;

when the camera identifies the unmanned aerial vehicle, the camera equipment state information including the equipment ID and the IP of the camera is sent to the server.

The server broadcasts the state information of the camera equipment to all unmanned aerial vehicles registered to be on line;

all camera IDs in a certain area are known in advance, the ID of a camera needing cleaning at present can be input into a currently used unmanned aerial vehicle system, or the ID is acquired in a scanning identification code mode, and the unmanned aerial vehicle determines whether the unmanned aerial vehicle identifies the current camera by comparing the ID of received information with the known ID. Then, the server transfers the response, and the IP address of the unmanned aerial vehicle and the IP address of the camera are added in the response information;

the server forwards the IP of the unmanned aerial vehicle and the IP of the other party to the target camera through the IP of the camera in the unmanned aerial vehicle response information, the unmanned aerial vehicle and the camera acquire the IP of the unmanned aerial vehicle and the IP of the other party to finish mutual identification and pairing, and the later interactive information carries the source IP and the target IP and finishes forwarding through the server.

Through the server, information interaction such as camera and unmanned aerial vehicle completion hover position adjustment, linkage washing, it is specific:

as shown in fig. 9, for the drone, the drone initiates a lens cleaning request to the camera through the server;

receiving a camera response, adjusting the hovering position according to the camera response information, and initiating a cleaning request again;

and receiving a camera cleaning response (such as position not being at the target position, adjusting the position, and initiating a cleaning request again), opening the cleaning port and starting cleaning.

After 15 seconds, the unmanned aerial vehicle sends a request for finishing cleaning the lens to the camera through the server.

After receiving the service response returned by the camera, if the service response is to continue cleaning, initiating a cleaning request again (in this case, the cleaning request can be used for cleaning the transparent outer cover of the lens); if the service response is to end cleaning, cleaning ends.

As shown in fig. 10, for the camera, when the camera receives a cleaning request, the distance between the drone and the camera is determined according to the proportion of the drone to the video (for example, the drone occupies 30 percent of the video picture as appropriate); the unmanned aerial vehicle hovering position is judged at the central point of not being at the picture through unmanned aerial vehicle's washing mouth, and when unmanned aerial vehicle is not at the target location, confirm unmanned aerial vehicle adjustment direction and distance of hovering through unmanned aerial vehicle washing mouth to the direction and the distance of picture central point on the picture, generate and adjust response information and return to for unmanned aerial vehicle.

The camera receives the cleaning request, and if the unmanned aerial vehicle is at the target position, the camera returns to start cleaning response. Then unmanned aerial vehicle will spout the sanitizer, just can begin to link devices such as camera cleaning brush this moment, clean mirror surface. (the cleaning brush will generally begin to work when there is rainwater or detergent, and at this moment the unmanned plane will begin to spray detergent, the camera cleaning brush can work in conjunction)

The camera receives the cleaning finishing request, judges whether the position needs to be adjusted to continue cleaning, and regenerates the adjusting response information if the position needs to be adjusted to continue cleaning; if cleaning is not needed, cleaning is ended in response.

The scheme is also suitable for the ball machine with the transparent outer cover. In this case, the transparent cover of the dome camera is cleaned, and in the last step of the execution process of the camera, after a request that the unmanned aerial vehicle finishes cleaning is received, the lens is rotated, the unmanned aerial vehicle deviates from the central point, and the cleaning needs to be continued in response.

In this scheme, unmanned aerial vehicle launches the camera lens through the server and washs the request to the camera, and the camera receives and washs the request, and is mutual with unmanned aerial vehicle, accomplishes unmanned aerial vehicle position joint debugging that hovers, then the response begins to wash. After camera and unmanned aerial vehicle linkage wash, if the ball machine of taking transparent dustcoat, the position can be adjusted again and continue to wash. The hovering position is adjusted through the unmanned aerial vehicle, so that the problem of large error of manual adjustment is avoided; the unmanned aerial vehicle automatically starts cleaning and finishes cleaning, so that manual operation is reduced; the lens is aligned and cleaned, and the waste of cleaning resources is reduced.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing the relevant hardware. The program may be stored in a readable storage medium. Which when executed comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disk, optical disk, etc.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of cleaning an imaging device, comprising the steps of:

when a cleaning request initiated by a target unmanned aerial vehicle is received, a camera device obtains a camera shooting picture; the camera device is a device to be cleaned;

the camera device judges whether the target unmanned aerial vehicle is at a target position according to the camera picture, and if not, adjustment response information is generated and returned to the target unmanned aerial vehicle; wherein the adjustment response information is used to instruct the target drone to adjust its hover position to locate the target drone at the target position;

when the target unmanned aerial vehicle is located at the target position, the camera device generates cleaning response information and returns the cleaning response information to the target unmanned aerial vehicle; wherein the cleaning response information is used for instructing the target unmanned aerial vehicle to clean the camera device.

2. The method for cleaning the camera device according to claim 1, wherein the step of the camera device determining whether the target drone is at the target position according to the camera image includes the steps of:

and acquiring the proportion of the target unmanned aerial vehicle in the shooting picture, and judging whether the target unmanned aerial vehicle is at a target position according to the proportion.

3. The method for cleaning the camera device according to claim 1, wherein the step of the camera device determining whether the target drone is at the target position according to the camera image includes the steps of:

and identifying a cleaning opening of the target unmanned aerial vehicle in the image pick-up picture, and if the position of the cleaning opening in the image pick-up picture is at the center of the image pick-up picture, judging that the target unmanned aerial vehicle is at the target position.

4. The method of cleaning an image pickup apparatus according to claim 3, further comprising the steps of:

if the position of the cleaning opening in the shooting picture is not located at the center of the shooting picture, a distance vector between the cleaning opening and the center of the shooting picture is obtained, and adjustment response information is generated according to the distance vector, wherein the adjustment response information comprises adjustment direction information and adjustment distance information of the target unmanned aerial vehicle.

5. The method of cleaning the imaging apparatus according to claim 1, further comprising, after the step of returning the cleaning response information to the target drone, the steps of:

detecting whether the target unmanned aerial vehicle begins to right camera device cleans, if, drives camera device's cleaning brush carries out the linkage cleanness.

6. The method of cleaning an image pickup apparatus according to claim 1, further comprising the steps of:

when a cleaning ending request initiated by the target unmanned aerial vehicle is received, judging whether the cleaned area covers all areas of the surface of a lens outer cover of a camera device, wherein the lens of the camera device is wrapped by the outer cover;

7. The method according to any one of claims 1 to 6, further comprising, before receiving a cleaning request initiated by a target drone:

when the target unmanned aerial vehicle is shot, sending identification information and a protocol address of the camera device to a server; the server is used for broadcasting the identification information and the protocol address of the camera device to the unmanned aerial vehicle which is registered to be on line;

receiving pairing information sent by the server, and establishing interactive connection with the target unmanned aerial vehicle according to the pairing information, wherein the pairing information is sent to the server by the target unmanned aerial vehicle, and the pairing information comprises a protocol address of the camera device and a protocol address of the target unmanned aerial vehicle.

8. A cleaning system of a camera device is characterized in that the cleaning system is arranged in the camera device, and the camera device is a device to be cleaned; the cleaning system includes:

the position analysis unit is used for judging whether the target unmanned aerial vehicle is at a target position according to the camera shooting picture, and if not, generating adjustment response information and returning the adjustment response information to the target unmanned aerial vehicle; wherein the adjustment response information is used to instruct the target drone to adjust its hover position to locate the target drone at the target position;

the cleaning response unit is used for generating cleaning response information and returning the cleaning response information to the target unmanned aerial vehicle when the target unmanned aerial vehicle is located at the target position; wherein the cleaning response information is used for instructing the target unmanned aerial vehicle to clean the camera device.

9. A readable storage medium having stored thereon an executable program, characterized in that the executable program, when executed by a processor, carries out the steps of the method of cleaning an image pickup apparatus of any one of claims 1 to 7.

10. An image pickup apparatus comprising a memory and a processor, the memory storing an executable program, wherein the processor implements the steps of the method for cleaning the image pickup apparatus according to any one of claims 1 to 7 when executing the executable program.

11. A method of cleaning an imaging device, comprising the steps of:

initiating a cleaning request to a target camera device;

12. The method according to claim 11, wherein the adjustment response information is obtained based on a distance vector of the cleaning opening of the target drone with respect to a center of a camera image of the target camera, and the adjustment response information includes adjustment direction information and adjustment distance information of the target drone.

13. The method of cleaning an imaging apparatus according to claim 11, further comprising the steps of:

14. The method according to any one of claims 11 to 13, characterized by, before the step of initiating a cleaning request to the target image pickup device, further comprising the steps of:

registering an online server;

when the target unmanned aerial vehicle hovers in front of a lens of the target camera device, receiving identification information to be identified and a protocol address broadcast by the server, wherein the identification information to be identified and the protocol address are identification information and a protocol address of the camera device which has shot the unmanned aerial vehicle;

acquiring identification information of the target camera device, and returning pairing information to the server when the identification information of the target camera device is consistent with the identification information to be identified; the pairing information is used for establishing interactive connection between the target camera device and the target unmanned aerial vehicle, and the pairing information comprises a protocol address of the target camera device and a protocol address of the target unmanned aerial vehicle.

15. A cleaning system for an image capture device, comprising:

and the cleaning execution unit is used for receiving cleaning response information returned by the target camera device and cleaning the target camera device according to the cleaning response information.

16. A readable storage medium having stored thereon an executable program, characterized in that the executable program, when executed by a processor, carries out the steps of the method of cleaning an image pickup apparatus according to any one of claims 11 to 14.

17. A drone comprising a memory and a processor, the memory storing an executable program, characterized in that the processor, when executing the executable program, implements the steps of the method of cleaning a camera device according to any one of claims 11 to 14.